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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">find_shape_model_3d</span><span data-if="c" style="display:none;">T_find_shape_model_3d</span><span data-if="cpp" style="display:none;">FindShapeModel3d</span><span data-if="dotnet" style="display:none;">FindShapeModel3d</span><span data-if="python" style="display:none;">find_shape_model_3d</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">find_shape_model_3d</span><span data-if="c" style="display:none;">T_find_shape_model_3d</span><span data-if="cpp" style="display:none;">FindShapeModel3d</span><span data-if="dotnet" style="display:none;">FindShapeModel3d</span><span data-if="python" style="display:none;">find_shape_model_3d</span></code> — Find the best matches of a 3D shape model in an image.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>find_shape_model_3d</b>(<a href="#Image"><i>Image</i></a> :  : <a href="#ShapeModel3DID"><i>ShapeModel3DID</i></a>, <a href="#MinScore"><i>MinScore</i></a>, <a href="#Greediness"><i>Greediness</i></a>, <a href="#NumLevels"><i>NumLevels</i></a>, <a href="#GenParamName"><i>GenParamName</i></a>, <a href="#GenParamValue"><i>GenParamValue</i></a> : <a href="#Pose"><i>Pose</i></a>, <a href="#CovPose"><i>CovPose</i></a>, <a href="#Score"><i>Score</i></a>)</code></p>
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<p>
<code>Herror <b>T_find_shape_model_3d</b>(const Hobject <a href="#Image"><i>Image</i></a>, const Htuple <a href="#ShapeModel3DID"><i>ShapeModel3DID</i></a>, const Htuple <a href="#MinScore"><i>MinScore</i></a>, const Htuple <a href="#Greediness"><i>Greediness</i></a>, const Htuple <a href="#NumLevels"><i>NumLevels</i></a>, const Htuple <a href="#GenParamName"><i>GenParamName</i></a>, const Htuple <a href="#GenParamValue"><i>GenParamValue</i></a>, Htuple* <a href="#Pose"><i>Pose</i></a>, Htuple* <a href="#CovPose"><i>CovPose</i></a>, Htuple* <a href="#Score"><i>Score</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>FindShapeModel3d</b>(const HObject&amp; <a href="#Image"><i>Image</i></a>, const HTuple&amp; <a href="#ShapeModel3DID"><i>ShapeModel3DID</i></a>, const HTuple&amp; <a href="#MinScore"><i>MinScore</i></a>, const HTuple&amp; <a href="#Greediness"><i>Greediness</i></a>, const HTuple&amp; <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>, HTuple* <a href="#Pose"><i>Pose</i></a>, HTuple* <a href="#CovPose"><i>CovPose</i></a>, HTuple* <a href="#Score"><i>Score</i></a>)</code></p>
<p>
<code>HPoseArray <a href="HShapeModel3D.html">HShapeModel3D</a>::<b>FindShapeModel3d</b>(const HImage&amp; <a href="#Image"><i>Image</i></a>, double <a href="#MinScore"><i>MinScore</i></a>, double <a href="#Greediness"><i>Greediness</i></a>, const HTuple&amp; <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>, HTuple* <a href="#CovPose"><i>CovPose</i></a>, HTuple* <a href="#Score"><i>Score</i></a>) const</code></p>
<p>
<code>HPoseArray <a href="HImage.html">HImage</a>::<b>FindShapeModel3d</b>(const HShapeModel3D&amp; <a href="#ShapeModel3DID"><i>ShapeModel3DID</i></a>, double <a href="#MinScore"><i>MinScore</i></a>, double <a href="#Greediness"><i>Greediness</i></a>, const HTuple&amp; <a href="#NumLevels"><i>NumLevels</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>, HTuple* <a href="#CovPose"><i>CovPose</i></a>, HTuple* <a href="#Score"><i>Score</i></a>) const</code></p>
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<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>FindShapeModel3d</b>(<a href="HObject.html">HObject</a> <a href="#Image"><i>image</i></a>, <a href="HTuple.html">HTuple</a> <a href="#ShapeModel3DID"><i>shapeModel3DID</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MinScore"><i>minScore</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Greediness"><i>greediness</i></a>, <a href="HTuple.html">HTuple</a> <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Pose"><i>pose</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovPose"><i>covPose</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Score"><i>score</i></a>)</code></p>
<p>
<code><a href="HPose.html">HPose[]</a> <a href="HShapeModel3D.html">HShapeModel3D</a>.<b>FindShapeModel3d</b>(<a href="HImage.html">HImage</a> <a href="#Image"><i>image</i></a>, double <a href="#MinScore"><i>minScore</i></a>, double <a href="#Greediness"><i>greediness</i></a>, <a href="HTuple.html">HTuple</a> <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovPose"><i>covPose</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Score"><i>score</i></a>)</code></p>
<p>
<code><a href="HPose.html">HPose[]</a> <a href="HImage.html">HImage</a>.<b>FindShapeModel3d</b>(<a href="HShapeModel3D.html">HShapeModel3D</a> <a href="#ShapeModel3DID"><i>shapeModel3DID</i></a>, double <a href="#MinScore"><i>minScore</i></a>, double <a href="#Greediness"><i>greediness</i></a>, <a href="HTuple.html">HTuple</a> <a href="#NumLevels"><i>numLevels</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CovPose"><i>covPose</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#Score"><i>score</i></a>)</code></p>
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<p>
<code>def <b>find_shape_model_3d</b>(<a href="#Image"><i>image</i></a>: HObject, <a href="#ShapeModel3DID"><i>shape_model_3did</i></a>: HHandle, <a href="#MinScore"><i>min_score</i></a>: float, <a href="#Greediness"><i>greediness</i></a>: float, <a href="#NumLevels"><i>num_levels</i></a>: Sequence[int], <a href="#GenParamName"><i>gen_param_name</i></a>: Sequence[str], <a href="#GenParamValue"><i>gen_param_value</i></a>: Sequence[Union[int, float, str]]) -&gt; Tuple[Sequence[Union[int, float]], Sequence[float], Sequence[float]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">find_shape_model_3d</span><span data-if="c" style="display:none">find_shape_model_3d</span><span data-if="cpp" style="display:none">FindShapeModel3d</span><span data-if="com" style="display:none">FindShapeModel3d</span><span data-if="dotnet" style="display:none">FindShapeModel3d</span><span data-if="python" style="display:none">find_shape_model_3d</span></code> finds the best matches of
the 3D shape model <a href="#ShapeModel3DID"><i><code><span data-if="hdevelop" style="display:inline">ShapeModel3DID</span><span data-if="c" style="display:none">ShapeModel3DID</span><span data-if="cpp" style="display:none">ShapeModel3DID</span><span data-if="com" style="display:none">ShapeModel3DID</span><span data-if="dotnet" style="display:none">shapeModel3DID</span><span data-if="python" style="display:none">shape_model_3did</span></code></i></a> in the input
<a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a>.  The 3D shape model must have been created
previously by calling <a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a> or
<a href="read_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">read_shape_model_3d</span><span data-if="c" style="display:none">read_shape_model_3d</span><span data-if="cpp" style="display:none">ReadShapeModel3d</span><span data-if="com" style="display:none">ReadShapeModel3d</span><span data-if="dotnet" style="display:none">ReadShapeModel3d</span><span data-if="python" style="display:none">read_shape_model_3d</span></code></a>.
</p>
<p>The 3D pose of the found instances of the model is returned in
<a href="#Pose"><i><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></i></a>. The pose is in the form
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</svg></span>, where
<i>ccs</i> denotes the camera coordinate system and
<i>mcs</i> the model coordinate system (which is a 3D world coordinate
system), see <a href="toc_transformations_poses.html">Transformations / Poses</a> and
<code>“Solution Guide III-C - 3D Vision”</code>.
Hence, it describes the pose of the 3D object model in camera coordinates.
It should be noted that the resulting
<a href="#Pose"><i><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></i></a> does not refer to reference coordinate system that is
introduced in <a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a> but to the original 3D
object model coordinate system used in the CAD file. If a pose
refinement was applied (see below), additionally the accuracy of the
six pose parameters are returned in <a href="#CovPose"><i><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></i></a>. By default,
<a href="#CovPose"><i><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></i></a> contains the 6 standard deviations of the pose
parameters for each match.  In contrast, if the generic parameter
<i><span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span></i> (see below) was set to
<i><span data-if="hdevelop" style="display:inline">'covariances'</span><span data-if="c" style="display:none">"covariances"</span><span data-if="cpp" style="display:none">"covariances"</span><span data-if="com" style="display:none">"covariances"</span><span data-if="dotnet" style="display:none">"covariances"</span><span data-if="python" style="display:none">"covariances"</span></i>, <a href="#CovPose"><i><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></i></a> contains the 36 values of
the complete  6×6  covariance matrix of the 6
pose parameters. Note that this reflects only an inner accuracy from
which the real accuracy of the pose may differ.  Finally, the score
of each found instance is returned in <a href="#Score"><i><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></i></a>.  The score is
a number between 0 and 1, which is an approximate measure of how
much of the model is visible in the image.  If, for example, half of
the model is occluded, the score cannot exceed 0.5.
</p>
<h3>Input parameters in detail</h3>
<dl class="generic">

<dt><b><a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a> and its domain:</b></dt>
<dd>
<p>

The domain of the image <a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a> determines the search space
for the reference point of the 3D object model.
</p>
</dd>

<dt><b><a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a>:</b></dt>
<dd>
<p>

The parameter <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a> determines what score a potential
match must at least have to be regarded as an instance of the model
in the image.  The larger <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a> is chosen, the faster
the search is.  If the model can be expected never to be occluded in
the images, <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a> may be set as high as 0.8 or even 0.9.
Note that in images with a high degree of clutter or strong
background texture, <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a> should be set to a value not
much lower than <i>0.7</i> since otherwise false matches could
be found.
</p>
</dd>

<dt><b><a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a>:</b></dt>
<dd>
<p>

The parameter <a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a> determines how “greedily” the
search should be carried out.  If <a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a>=0, a safe
search heuristic is used, which always finds the model if it is
visible in the image.  However, the search will be relatively time
consuming in this case.  If <a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a>=1, an unsafe
search heuristic is used, which may cause the model not to be found
in rare cases, even though it is visible in the image.  For
<a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a>=1, the maximum search speed is achieved.  In
almost all cases, the 3D shape model will always be found for
<a href="#Greediness"><i><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></i></a>=0.9.
</p>
</dd>

<dt><b><a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a>:</b></dt>
<dd>
<p>

The number of pyramid levels used during the search is determined
with <a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a>.  If necessary, the number of levels is
clipped to the range given when the 3D shape model was created with
<a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a>.  If <a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a> is set to
<i>0</i>, the number of pyramid levels specified in
<a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a> is used.  Optionally,
<a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a> can contain a second value that determines the
lowest pyramid level to which the found matches are tracked.  Hence,
a value of <i>[4,2]</i> for <a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a> means that the
matching starts at the fourth pyramid level and tracks the matches
to the second lowest pyramid level (the lowest pyramid level is
denoted by a value of 1).  This mechanism can be used to decrease
the runtime of the matching.  If the lowest pyramid level to use is
chosen too large, it may happen that the desired accuracy cannot be
achieved, or that wrong instances of the model are found because the
model is not specific enough on the higher pyramid levels to
facilitate a reliable selection of the correct instance of the
model.  In this case, the lowest pyramid level to use must be set to
a smaller value.
</p>
</dd>

<dt><b><a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>:</b></dt>
<dd>
<p>

In addition to the parameters described above, there are some
generic parameters that can optionally be used to influence the
matching. For most applications these parameters need not to be
specified but can be left at their default values. If desired, these
parameters and their corresponding values can be specified by using
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>, respectively.
The following values for <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> are possible:
</p>
<ul>

<li>
<p>
If the pose range in which the model is to be searched is smaller
than the pose range that was specified during the model creation
with <a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a>, the pose range can be
restricted appropriately with the following parameters. If the
values lie outside the pose range of the model, the values are
automatically clipped to the pose range of the model.
</p>
<dl class="generic">


<dt><b><i><span data-if="hdevelop" style="display:inline">'longitude_min'</span><span data-if="c" style="display:none">"longitude_min"</span><span data-if="cpp" style="display:none">"longitude_min"</span><span data-if="com" style="display:none">"longitude_min"</span><span data-if="dotnet" style="display:none">"longitude_min"</span><span data-if="python" style="display:none">"longitude_min"</span></i>:</b></dt>
<dd>
<p>

Sets the minimum longitude of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-45)'</span><span data-if="c" style="display:none">"rad(-45)"</span><span data-if="cpp" style="display:none">"rad(-45)"</span><span data-if="com" style="display:none">"rad(-45)"</span><span data-if="dotnet" style="display:none">"rad(-45)"</span><span data-if="python" style="display:none">"rad(-45)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(-30)'</span><span data-if="c" style="display:none">"rad(-30)"</span><span data-if="cpp" style="display:none">"rad(-30)"</span><span data-if="com" style="display:none">"rad(-30)"</span><span data-if="dotnet" style="display:none">"rad(-30)"</span><span data-if="python" style="display:none">"rad(-30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(-15)'</span><span data-if="c" style="display:none">"rad(-15)"</span><span data-if="cpp" style="display:none">"rad(-15)"</span><span data-if="com" style="display:none">"rad(-15)"</span><span data-if="dotnet" style="display:none">"rad(-15)"</span><span data-if="python" style="display:none">"rad(-15)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-180)'</span><span data-if="c" style="display:none">"rad(-180)"</span><span data-if="cpp" style="display:none">"rad(-180)"</span><span data-if="com" style="display:none">"rad(-180)"</span><span data-if="dotnet" style="display:none">"rad(-180)"</span><span data-if="python" style="display:none">"rad(-180)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'longitude_max'</span><span data-if="c" style="display:none">"longitude_max"</span><span data-if="cpp" style="display:none">"longitude_max"</span><span data-if="com" style="display:none">"longitude_max"</span><span data-if="dotnet" style="display:none">"longitude_max"</span><span data-if="python" style="display:none">"longitude_max"</span></i>:</b></dt>
<dd>
<p>

Sets the maximum longitude of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(15)'</span><span data-if="c" style="display:none">"rad(15)"</span><span data-if="cpp" style="display:none">"rad(15)"</span><span data-if="com" style="display:none">"rad(15)"</span><span data-if="dotnet" style="display:none">"rad(15)"</span><span data-if="python" style="display:none">"rad(15)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(30)'</span><span data-if="c" style="display:none">"rad(30)"</span><span data-if="cpp" style="display:none">"rad(30)"</span><span data-if="com" style="display:none">"rad(30)"</span><span data-if="dotnet" style="display:none">"rad(30)"</span><span data-if="python" style="display:none">"rad(30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(45)'</span><span data-if="c" style="display:none">"rad(45)"</span><span data-if="cpp" style="display:none">"rad(45)"</span><span data-if="com" style="display:none">"rad(45)"</span><span data-if="dotnet" style="display:none">"rad(45)"</span><span data-if="python" style="display:none">"rad(45)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(180)'</span><span data-if="c" style="display:none">"rad(180)"</span><span data-if="cpp" style="display:none">"rad(180)"</span><span data-if="com" style="display:none">"rad(180)"</span><span data-if="dotnet" style="display:none">"rad(180)"</span><span data-if="python" style="display:none">"rad(180)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'latitude_min'</span><span data-if="c" style="display:none">"latitude_min"</span><span data-if="cpp" style="display:none">"latitude_min"</span><span data-if="com" style="display:none">"latitude_min"</span><span data-if="dotnet" style="display:none">"latitude_min"</span><span data-if="python" style="display:none">"latitude_min"</span></i>:</b></dt>
<dd>
<p>

Sets the minimum latitude of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-45)'</span><span data-if="c" style="display:none">"rad(-45)"</span><span data-if="cpp" style="display:none">"rad(-45)"</span><span data-if="com" style="display:none">"rad(-45)"</span><span data-if="dotnet" style="display:none">"rad(-45)"</span><span data-if="python" style="display:none">"rad(-45)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(-30)'</span><span data-if="c" style="display:none">"rad(-30)"</span><span data-if="cpp" style="display:none">"rad(-30)"</span><span data-if="com" style="display:none">"rad(-30)"</span><span data-if="dotnet" style="display:none">"rad(-30)"</span><span data-if="python" style="display:none">"rad(-30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(-15)'</span><span data-if="c" style="display:none">"rad(-15)"</span><span data-if="cpp" style="display:none">"rad(-15)"</span><span data-if="com" style="display:none">"rad(-15)"</span><span data-if="dotnet" style="display:none">"rad(-15)"</span><span data-if="python" style="display:none">"rad(-15)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-90)'</span><span data-if="c" style="display:none">"rad(-90)"</span><span data-if="cpp" style="display:none">"rad(-90)"</span><span data-if="com" style="display:none">"rad(-90)"</span><span data-if="dotnet" style="display:none">"rad(-90)"</span><span data-if="python" style="display:none">"rad(-90)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'latitude_max'</span><span data-if="c" style="display:none">"latitude_max"</span><span data-if="cpp" style="display:none">"latitude_max"</span><span data-if="com" style="display:none">"latitude_max"</span><span data-if="dotnet" style="display:none">"latitude_max"</span><span data-if="python" style="display:none">"latitude_max"</span></i>:</b></dt>
<dd>
<p>

Sets the maximum latitude of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(15)'</span><span data-if="c" style="display:none">"rad(15)"</span><span data-if="cpp" style="display:none">"rad(15)"</span><span data-if="com" style="display:none">"rad(15)"</span><span data-if="dotnet" style="display:none">"rad(15)"</span><span data-if="python" style="display:none">"rad(15)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(30)'</span><span data-if="c" style="display:none">"rad(30)"</span><span data-if="cpp" style="display:none">"rad(30)"</span><span data-if="com" style="display:none">"rad(30)"</span><span data-if="dotnet" style="display:none">"rad(30)"</span><span data-if="python" style="display:none">"rad(30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(45)'</span><span data-if="c" style="display:none">"rad(45)"</span><span data-if="cpp" style="display:none">"rad(45)"</span><span data-if="com" style="display:none">"rad(45)"</span><span data-if="dotnet" style="display:none">"rad(45)"</span><span data-if="python" style="display:none">"rad(45)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(90)'</span><span data-if="c" style="display:none">"rad(90)"</span><span data-if="cpp" style="display:none">"rad(90)"</span><span data-if="com" style="display:none">"rad(90)"</span><span data-if="dotnet" style="display:none">"rad(90)"</span><span data-if="python" style="display:none">"rad(90)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'cam_roll_min'</span><span data-if="c" style="display:none">"cam_roll_min"</span><span data-if="cpp" style="display:none">"cam_roll_min"</span><span data-if="com" style="display:none">"cam_roll_min"</span><span data-if="dotnet" style="display:none">"cam_roll_min"</span><span data-if="python" style="display:none">"cam_roll_min"</span></i>:</b></dt>
<dd>
<p>

Sets the minimum camera roll angle of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-45)'</span><span data-if="c" style="display:none">"rad(-45)"</span><span data-if="cpp" style="display:none">"rad(-45)"</span><span data-if="com" style="display:none">"rad(-45)"</span><span data-if="dotnet" style="display:none">"rad(-45)"</span><span data-if="python" style="display:none">"rad(-45)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(-30)'</span><span data-if="c" style="display:none">"rad(-30)"</span><span data-if="cpp" style="display:none">"rad(-30)"</span><span data-if="com" style="display:none">"rad(-30)"</span><span data-if="dotnet" style="display:none">"rad(-30)"</span><span data-if="python" style="display:none">"rad(-30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(-15)'</span><span data-if="c" style="display:none">"rad(-15)"</span><span data-if="cpp" style="display:none">"rad(-15)"</span><span data-if="com" style="display:none">"rad(-15)"</span><span data-if="dotnet" style="display:none">"rad(-15)"</span><span data-if="python" style="display:none">"rad(-15)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(-180)'</span><span data-if="c" style="display:none">"rad(-180)"</span><span data-if="cpp" style="display:none">"rad(-180)"</span><span data-if="com" style="display:none">"rad(-180)"</span><span data-if="dotnet" style="display:none">"rad(-180)"</span><span data-if="python" style="display:none">"rad(-180)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'cam_roll_max'</span><span data-if="c" style="display:none">"cam_roll_max"</span><span data-if="cpp" style="display:none">"cam_roll_max"</span><span data-if="com" style="display:none">"cam_roll_max"</span><span data-if="dotnet" style="display:none">"cam_roll_max"</span><span data-if="python" style="display:none">"cam_roll_max"</span></i>:</b></dt>
<dd>
<p>

Sets the maximum camera roll angle of the pose range.</p>
<p>
<i>Suggested values:</i> <i><span data-if="hdevelop" style="display:inline">'rad(15)'</span><span data-if="c" style="display:none">"rad(15)"</span><span data-if="cpp" style="display:none">"rad(15)"</span><span data-if="com" style="display:none">"rad(15)"</span><span data-if="dotnet" style="display:none">"rad(15)"</span><span data-if="python" style="display:none">"rad(15)"</span></i>, <i><span data-if="hdevelop" style="display:inline">'rad(30)'</span><span data-if="c" style="display:none">"rad(30)"</span><span data-if="cpp" style="display:none">"rad(30)"</span><span data-if="com" style="display:none">"rad(30)"</span><span data-if="dotnet" style="display:none">"rad(30)"</span><span data-if="python" style="display:none">"rad(30)"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'rad(45)'</span><span data-if="c" style="display:none">"rad(45)"</span><span data-if="cpp" style="display:none">"rad(45)"</span><span data-if="com" style="display:none">"rad(45)"</span><span data-if="dotnet" style="display:none">"rad(45)"</span><span data-if="python" style="display:none">"rad(45)"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'rad(180)'</span><span data-if="c" style="display:none">"rad(180)"</span><span data-if="cpp" style="display:none">"rad(180)"</span><span data-if="com" style="display:none">"rad(180)"</span><span data-if="dotnet" style="display:none">"rad(180)"</span><span data-if="python" style="display:none">"rad(180)"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'dist_min'</span><span data-if="c" style="display:none">"dist_min"</span><span data-if="cpp" style="display:none">"dist_min"</span><span data-if="com" style="display:none">"dist_min"</span><span data-if="dotnet" style="display:none">"dist_min"</span><span data-if="python" style="display:none">"dist_min"</span></i>:</b></dt>
<dd>
<p>

Sets the minimum camera-object-distance of the pose range.</p>
<p>
<i>Suggested values:</i> <i>0.05</i>, <i>0.1</i>,
<i>0.5</i>, <i>1.0</i></p>
<p>
<i>Default value:</i> <i>0</i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'dist_max'</span><span data-if="c" style="display:none">"dist_max"</span><span data-if="cpp" style="display:none">"dist_max"</span><span data-if="com" style="display:none">"dist_max"</span><span data-if="dotnet" style="display:none">"dist_max"</span><span data-if="python" style="display:none">"dist_max"</span></i>:</b></dt>
<dd>
<p>

Sets the maximum camera-object-distance of the pose range.</p>
<p>
<i>Suggested values:</i> <i>0.05</i>, <i>0.1</i>,
<i>0.5</i>, <i>1.0</i></p>
<p>
<i>Default value:</i> <span title="2" style="vertical-align:-0.292712em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.78577em" height="0.978783em" viewBox="0 0 28.572266 15.660522">
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  </defs>
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</svg></span>
</p>
</dd>
</dl>

</li>
<li>
<p>
Further generic parameters that do not concern the pose range can be
specified:
</p>
<dl class="generic">


<dt><b><i><span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span></i>:</b></dt>
<dd>
<p>

With this parameter the maximum number of instances to be found
can be determined.  If more than the specified number of
instances with a score greater than <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a> are found
in the image, only the best <i><span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span></i> instances are
returned.  If fewer than <i><span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span></i> are found, only
that number is returned, i.e., the parameter <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a>
takes precedence over <i><span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span></i>. If
<i><span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span></i> is set to <i>0</i>, all matches that
satisfy the score criterion are returned.  Note that the more
matches should be found the slower the matching will be. </p>
<p>
<i>Suggested values:</i> <i>0</i>, <i>1</i>, <i>2</i>,
<i>3</i></p>
<p> <i>Default value:</i> <i>1</i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span></i>:</b></dt>
<dd>
<p>

It may happen that multiple instances with similar positions but
with different orientations are found in the image.  The
parameter <i><span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span></i> determines by what fraction
(i.e., a number between 0 and 1) two instances may at most
overlap in order to consider them as different instances, and
hence to be returned separately.  If two instances overlap each
other by more than the specified value only the best instance is
returned.  The calculation of the overlap is based on the
smallest enclosing rectangle of arbitrary orientation (see
<a href="smallest_rectangle2.html"><code><span data-if="hdevelop" style="display:inline">smallest_rectangle2</span><span data-if="c" style="display:none">smallest_rectangle2</span><span data-if="cpp" style="display:none">SmallestRectangle2</span><span data-if="com" style="display:none">SmallestRectangle2</span><span data-if="dotnet" style="display:none">SmallestRectangle2</span><span data-if="python" style="display:none">smallest_rectangle2</span></code></a>) of the found instances.
If in <a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a> for
<i><span data-if="hdevelop" style="display:inline">'lowest_model_level'</span><span data-if="c" style="display:none">"lowest_model_level"</span><span data-if="cpp" style="display:none">"lowest_model_level"</span><span data-if="com" style="display:none">"lowest_model_level"</span><span data-if="dotnet" style="display:none">"lowest_model_level"</span><span data-if="python" style="display:none">"lowest_model_level"</span></i> a value larger than <i>1</i>
was passed, the overlap calculation is based on the projection
of the smallest enclosing axis-parallel cuboid of the 3D
object model.  Because in this case the overlap might be
overestimated, in some cases it could be necessary to increase
the value for <i><span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span></i>.  If
<i><span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span></i>=0, the found instances may not overlap
at all, while for <i><span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span></i>=1 all instances are
returned. </p>
<p> <i>Suggested values:</i> <i>0.0</i>,
<i>0.2</i>, <i>0.4</i>, <i>0.6</i>, <i>0.8</i>,
<i>1.0</i></p>
<p> <i>Default value:</i> <i>0.5</i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i>:</b></dt>
<dd>
<p>
 This parameter
determines whether the poses of the instances should be refined
after the matching.  If <i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i> is set to
<i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i> the model's pose is only determined with a
limited accuracy.  In this case, the accuracy depends on several
sampling steps that are used inside the matching process and,
therefore cannot be predicted very well. Therefore,
<i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i> should only be set to <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>
when the computation time is of primary concern and an
approximate pose is sufficient. In all other cases the pose
should be determined through a least-squares adjustment, i.e.,
by minimizing the distances of the model points to their
corresponding image points.  In order to achieve a high
accuracy, this refinement is directly performed in
3D. Therefore, the refinement requires additional computation
time. If the system variable (see <a href="set_system.html"><code><span data-if="hdevelop" style="display:inline">set_system</span><span data-if="c" style="display:none">set_system</span><span data-if="cpp" style="display:none">SetSystem</span><span data-if="com" style="display:none">SetSystem</span><span data-if="dotnet" style="display:none">SetSystem</span><span data-if="python" style="display:none">set_system</span></code></a>)
<i><span data-if="hdevelop" style="display:inline">'opengl_hidden_surface_removal_enable'</span><span data-if="c" style="display:none">"opengl_hidden_surface_removal_enable"</span><span data-if="cpp" style="display:none">"opengl_hidden_surface_removal_enable"</span><span data-if="com" style="display:none">"opengl_hidden_surface_removal_enable"</span><span data-if="dotnet" style="display:none">"opengl_hidden_surface_removal_enable"</span><span data-if="python" style="display:none">"opengl_hidden_surface_removal_enable"</span></i> is set to
<i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> (which is default if it is available) and the model
<a href="#ShapeModel3DID"><i><code><span data-if="hdevelop" style="display:inline">ShapeModel3DID</span><span data-if="c" style="display:none">ShapeModel3DID</span><span data-if="cpp" style="display:none">ShapeModel3DID</span><span data-if="com" style="display:none">ShapeModel3DID</span><span data-if="dotnet" style="display:none">shapeModel3DID</span><span data-if="python" style="display:none">shape_model_3did</span></code></i></a> was created with
<i><span data-if="hdevelop" style="display:inline">'fast_pose_refinement'</span><span data-if="c" style="display:none">"fast_pose_refinement"</span><span data-if="cpp" style="display:none">"fast_pose_refinement"</span><span data-if="com" style="display:none">"fast_pose_refinement"</span><span data-if="dotnet" style="display:none">"fast_pose_refinement"</span><span data-if="python" style="display:none">"fast_pose_refinement"</span></i> set to <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, the
projection of the model in the pose refinement step is accelerated
using the graphics card.  Depending on the graphics card this is
significantly faster than the non accelerated algorithm.  Be aware that
the results of the OpenGL projection are slightly different
compared to the analytic projection.
The different modes for least-squares adjustment
(<i><span data-if="hdevelop" style="display:inline">'least_squares'</span><span data-if="c" style="display:none">"least_squares"</span><span data-if="cpp" style="display:none">"least_squares"</span><span data-if="com" style="display:none">"least_squares"</span><span data-if="dotnet" style="display:none">"least_squares"</span><span data-if="python" style="display:none">"least_squares"</span></i>, <i><span data-if="hdevelop" style="display:inline">'least_squares_high'</span><span data-if="c" style="display:none">"least_squares_high"</span><span data-if="cpp" style="display:none">"least_squares_high"</span><span data-if="com" style="display:none">"least_squares_high"</span><span data-if="dotnet" style="display:none">"least_squares_high"</span><span data-if="python" style="display:none">"least_squares_high"</span></i>, and
<i><span data-if="hdevelop" style="display:inline">'least_squares_very_high'</span><span data-if="c" style="display:none">"least_squares_very_high"</span><span data-if="cpp" style="display:none">"least_squares_very_high"</span><span data-if="com" style="display:none">"least_squares_very_high"</span><span data-if="dotnet" style="display:none">"least_squares_very_high"</span><span data-if="python" style="display:none">"least_squares_very_high"</span></i>) can be used to determine the
accuracy with which the minimum distance is searched for.  The
higher the accuracy is chosen, the longer the pose refinement
will take, however.  For most applications
<i><span data-if="hdevelop" style="display:inline">'least_squares_high'</span><span data-if="c" style="display:none">"least_squares_high"</span><span data-if="cpp" style="display:none">"least_squares_high"</span><span data-if="com" style="display:none">"least_squares_high"</span><span data-if="dotnet" style="display:none">"least_squares_high"</span><span data-if="python" style="display:none">"least_squares_high"</span></i> should be chosen because this
results in the best trade-off between runtime and accuracy. Note
that the pose refinement can be sped up by passing
<i><span data-if="hdevelop" style="display:inline">'fast_pose_refinement'</span><span data-if="c" style="display:none">"fast_pose_refinement"</span><span data-if="cpp" style="display:none">"fast_pose_refinement"</span><span data-if="com" style="display:none">"fast_pose_refinement"</span><span data-if="dotnet" style="display:none">"fast_pose_refinement"</span><span data-if="python" style="display:none">"fast_pose_refinement"</span></i> for the parameter
<code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code> of 该算子
<a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a>. </p>
<p>
<i>List of values:</i> <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'least_squares'</span><span data-if="c" style="display:none">"least_squares"</span><span data-if="cpp" style="display:none">"least_squares"</span><span data-if="com" style="display:none">"least_squares"</span><span data-if="dotnet" style="display:none">"least_squares"</span><span data-if="python" style="display:none">"least_squares"</span></i>, <i><span data-if="hdevelop" style="display:inline">'least_squares_high'</span><span data-if="c" style="display:none">"least_squares_high"</span><span data-if="cpp" style="display:none">"least_squares_high"</span><span data-if="com" style="display:none">"least_squares_high"</span><span data-if="dotnet" style="display:none">"least_squares_high"</span><span data-if="python" style="display:none">"least_squares_high"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'least_squares_very_high'</span><span data-if="c" style="display:none">"least_squares_very_high"</span><span data-if="cpp" style="display:none">"least_squares_very_high"</span><span data-if="com" style="display:none">"least_squares_very_high"</span><span data-if="dotnet" style="display:none">"least_squares_very_high"</span><span data-if="python" style="display:none">"least_squares_very_high"</span></i> </p>
<p> <i>Default value:</i>
<i><span data-if="hdevelop" style="display:inline">'least_squares_high'</span><span data-if="c" style="display:none">"least_squares_high"</span><span data-if="cpp" style="display:none">"least_squares_high"</span><span data-if="com" style="display:none">"least_squares_high"</span><span data-if="dotnet" style="display:none">"least_squares_high"</span><span data-if="python" style="display:none">"least_squares_high"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'recompute_score'</span><span data-if="c" style="display:none">"recompute_score"</span><span data-if="cpp" style="display:none">"recompute_score"</span><span data-if="com" style="display:none">"recompute_score"</span><span data-if="dotnet" style="display:none">"recompute_score"</span><span data-if="python" style="display:none">"recompute_score"</span></i>:</b></dt>
<dd>
<p>
 This parameter determines
whether the score of the matches is recomputed after the pose
refinement.  If <i><span data-if="hdevelop" style="display:inline">'recompute_score'</span><span data-if="c" style="display:none">"recompute_score"</span><span data-if="cpp" style="display:none">"recompute_score"</span><span data-if="com" style="display:none">"recompute_score"</span><span data-if="dotnet" style="display:none">"recompute_score"</span><span data-if="python" style="display:none">"recompute_score"</span></i> is set to
<i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, the score is returned that was computed before
the pose refinement.  In some cases, however, the pose
refinement changes the object pose by more than one pixel in the
image.  Consequently, the original score does not appropriately
describe the refined match any longer. This could result in
wrong matches obtaining high scores or perfect matches obtaining
low scores. To obtain a more meaningful score that reflects the
pose changes due to the pose refinement, the score can be
recomputed after the pose refinement by setting
<i><span data-if="hdevelop" style="display:inline">'recompute_score'</span><span data-if="c" style="display:none">"recompute_score"</span><span data-if="cpp" style="display:none">"recompute_score"</span><span data-if="com" style="display:none">"recompute_score"</span><span data-if="dotnet" style="display:none">"recompute_score"</span><span data-if="python" style="display:none">"recompute_score"</span></i> to <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>.  Note that this
might change the order of the matches as well as the selection
of matches that is returned.  Also note that the recomputation
of the score values needs additional computation time.  This
increase of the run-time can be reduced by setting the generic
parameter <i><span data-if="hdevelop" style="display:inline">'fast_pose_refinement'</span><span data-if="c" style="display:none">"fast_pose_refinement"</span><span data-if="cpp" style="display:none">"fast_pose_refinement"</span><span data-if="com" style="display:none">"fast_pose_refinement"</span><span data-if="dotnet" style="display:none">"fast_pose_refinement"</span><span data-if="python" style="display:none">"fast_pose_refinement"</span></i> of 该算子
<a href="create_shape_model_3d.html"><code><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></code></a> to <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>.  </p>
<p>
<i>List of values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i> </p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'outlier_suppression'</span><span data-if="c" style="display:none">"outlier_suppression"</span><span data-if="cpp" style="display:none">"outlier_suppression"</span><span data-if="com" style="display:none">"outlier_suppression"</span><span data-if="dotnet" style="display:none">"outlier_suppression"</span><span data-if="python" style="display:none">"outlier_suppression"</span></i>:</b></dt>
<dd>
<p>

This parameter only takes effect if <i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i>
is set to a value other than <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>, and hence, a
least-squares adjustment is performed. Then, in some cases it
might be useful to apply a robust outlier suppression during the
least-squares adjustment.  This might be necessary, for example,
if a high degree of clutter is present in the image, which
prevents the least-squares adjustment from finding the optimum
pose. In this case, <i><span data-if="hdevelop" style="display:inline">'outlier_suppression'</span><span data-if="c" style="display:none">"outlier_suppression"</span><span data-if="cpp" style="display:none">"outlier_suppression"</span><span data-if="com" style="display:none">"outlier_suppression"</span><span data-if="dotnet" style="display:none">"outlier_suppression"</span><span data-if="python" style="display:none">"outlier_suppression"</span></i> should be set
to either <i><span data-if="hdevelop" style="display:inline">'medium'</span><span data-if="c" style="display:none">"medium"</span><span data-if="cpp" style="display:none">"medium"</span><span data-if="com" style="display:none">"medium"</span><span data-if="dotnet" style="display:none">"medium"</span><span data-if="python" style="display:none">"medium"</span></i> (eliminates a medium proportion of
outliers) or <i><span data-if="hdevelop" style="display:inline">'high'</span><span data-if="c" style="display:none">"high"</span><span data-if="cpp" style="display:none">"high"</span><span data-if="com" style="display:none">"high"</span><span data-if="dotnet" style="display:none">"high"</span><span data-if="python" style="display:none">"high"</span></i> (eliminates a high proportion of
outliers). However, in most applications, no robust outlier
suppression is necessary, and hence, <i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i>
can be set to <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>.  It should be noted that
activating the outlier suppression comes along with a
significantly increasing computation time. </p>
<p> <i>List of
    values:</i> <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>, <i><span data-if="hdevelop" style="display:inline">'medium'</span><span data-if="c" style="display:none">"medium"</span><span data-if="cpp" style="display:none">"medium"</span><span data-if="com" style="display:none">"medium"</span><span data-if="dotnet" style="display:none">"medium"</span><span data-if="python" style="display:none">"medium"</span></i>, <i><span data-if="hdevelop" style="display:inline">'high'</span><span data-if="c" style="display:none">"high"</span><span data-if="cpp" style="display:none">"high"</span><span data-if="com" style="display:none">"high"</span><span data-if="dotnet" style="display:none">"high"</span><span data-if="python" style="display:none">"high"</span></i></p>
<p>
<i>Default value:</i> <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span></i>:</b></dt>
<dd>
<p>
 This parameter only
takes effect if <i><span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span></i> is set to a value
other than <i><span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span></i>, and hence, a least-squares
adjustment is performed. <i><span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span></i> determines the
mode in which the accuracies that are computed during the
least-squares adjustment are returned in <a href="#CovPose"><i><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></i></a>. If
<i><span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span></i> is set to
<i><span data-if="hdevelop" style="display:inline">'standard_deviations'</span><span data-if="c" style="display:none">"standard_deviations"</span><span data-if="cpp" style="display:none">"standard_deviations"</span><span data-if="com" style="display:none">"standard_deviations"</span><span data-if="dotnet" style="display:none">"standard_deviations"</span><span data-if="python" style="display:none">"standard_deviations"</span></i>, the 6 standard deviations of the
6 pose parameters are returned for each match.  In contrast, if
<i><span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span></i> is set to <i><span data-if="hdevelop" style="display:inline">'covariances'</span><span data-if="c" style="display:none">"covariances"</span><span data-if="cpp" style="display:none">"covariances"</span><span data-if="com" style="display:none">"covariances"</span><span data-if="dotnet" style="display:none">"covariances"</span><span data-if="python" style="display:none">"covariances"</span></i>,
<a href="#CovPose"><i><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></i></a> contains the 36 values of the complete  6×6
     covariance matrix of the 6 pose parameters.</p>
<p>
<i>List of values:</i> <i><span data-if="hdevelop" style="display:inline">'standard_deviations'</span><span data-if="c" style="display:none">"standard_deviations"</span><span data-if="cpp" style="display:none">"standard_deviations"</span><span data-if="com" style="display:none">"standard_deviations"</span><span data-if="dotnet" style="display:none">"standard_deviations"</span><span data-if="python" style="display:none">"standard_deviations"</span></i>,
<i><span data-if="hdevelop" style="display:inline">'covariances'</span><span data-if="c" style="display:none">"covariances"</span><span data-if="cpp" style="display:none">"covariances"</span><span data-if="com" style="display:none">"covariances"</span><span data-if="dotnet" style="display:none">"covariances"</span><span data-if="python" style="display:none">"covariances"</span></i></p>
<p> <i>Default value:</i>
<i><span data-if="hdevelop" style="display:inline">'standard_deviations'</span><span data-if="c" style="display:none">"standard_deviations"</span><span data-if="cpp" style="display:none">"standard_deviations"</span><span data-if="com" style="display:none">"standard_deviations"</span><span data-if="dotnet" style="display:none">"standard_deviations"</span><span data-if="python" style="display:none">"standard_deviations"</span></i>
</p>
</dd>

<dt><b><i><span data-if="hdevelop" style="display:inline">'border_model'</span><span data-if="c" style="display:none">"border_model"</span><span data-if="cpp" style="display:none">"border_model"</span><span data-if="com" style="display:none">"border_model"</span><span data-if="dotnet" style="display:none">"border_model"</span><span data-if="python" style="display:none">"border_model"</span></i>:</b></dt>
<dd>
<p>

The model is searched within those points of the domain of the
image in which the model lies completely within the image.
This means that the model will not be found if it extends beyond
the borders of the image, even if it would achieve a score
greater than <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a>. Note that, if for a certain pyramid
level the model touches the image border, it might not be found
even if it lies completely within the original image.
As a rule of thumb, the model might not be found if its distance to
an image border falls below  <span title="3" style="vertical-align:-0.110416em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="5.93567em" height="0.970833em" viewBox="0 0 94.970764 15.533325">
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</svg></span>.
This behavior can be changed by setting <i><span data-if="hdevelop" style="display:inline">'border_model'</span><span data-if="c" style="display:none">"border_model"</span><span data-if="cpp" style="display:none">"border_model"</span><span data-if="com" style="display:none">"border_model"</span><span data-if="dotnet" style="display:none">"border_model"</span><span data-if="python" style="display:none">"border_model"</span></i> to
<i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i>, which will
cause models that extend beyond the image border to be found if
they achieve a score greater than <a href="#MinScore"><i><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></i></a>.  Here,
points lying outside the image are regarded as being occluded,
i.e., they lower the score.  It should be noted that the runtime
of the search will increase in this mode. Note further, that in
rare cases, which occur typically only for artificial images, the
model might not be found also if for certain pyramid levels the
model touches the border of the reduced domain. Then, it may help
to enlarge the reduced domain by
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</svg></span> using, e.g.,
<a href="dilation_circle.html"><code><span data-if="hdevelop" style="display:inline">dilation_circle</span><span data-if="c" style="display:none">dilation_circle</span><span data-if="cpp" style="display:none">DilationCircle</span><span data-if="com" style="display:none">DilationCircle</span><span data-if="dotnet" style="display:none">DilationCircle</span><span data-if="python" style="display:none">dilation_circle</span></code></a>.
</p>

<p> <i>List of
    values:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>, <i><span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span></i></p>
<p> <i>Default
    value:</i> <i><span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span></i>
</p>
</dd>
</dl>

</li>
</ul>
</dd>
</dl>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="Image" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></b> (input_object)  </span><span>(multichannel-)image <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2)</span>
</div>
<p class="pardesc">Input image in which the model should be found.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ShapeModel3DID" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ShapeModel3DID</span><span data-if="c" style="display:none">ShapeModel3DID</span><span data-if="cpp" style="display:none">ShapeModel3DID</span><span data-if="com" style="display:none">ShapeModel3DID</span><span data-if="dotnet" style="display:none">shapeModel3DID</span><span data-if="python" style="display:none">shape_model_3did</span></code></b> (input_control)  </span><span>shape_model_3d <code>→</code> <span data-if="dotnet" style="display:none"><a href="HShapeModel3D.html">HShapeModel3D</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">HHandle</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (handle)</span><span data-if="dotnet" style="display:none"> (<i>IntPtr</i>)</span><span data-if="cpp" style="display:none"> (<i>HHandle</i>)</span><span data-if="c" style="display:none"> (<i>handle</i>)</span></span>
</div>
<p class="pardesc">Handle of the 3D shape model.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="MinScore" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MinScore</span><span data-if="c" style="display:none">MinScore</span><span data-if="cpp" style="display:none">MinScore</span><span data-if="com" style="display:none">MinScore</span><span data-if="dotnet" style="display:none">minScore</span><span data-if="python" style="display:none">min_score</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Minimum score of the instances of the model to
be found.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.7</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">MinScore</span>
    <span data-if="c" style="display:none">MinScore</span>
    <span data-if="cpp" style="display:none">MinScore</span>
    <span data-if="com" style="display:none">MinScore</span>
    <span data-if="dotnet" style="display:none">minScore</span>
    <span data-if="python" style="display:none">min_score</span>
    
          ≤
          1</code></p>
<p class="pardesc"><span class="parcat">Minimum increment:
      </span>0.01</p>
<p class="pardesc"><span class="parcat">Recommended increment:
      </span>0.05</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Greediness" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Greediness</span><span data-if="c" style="display:none">Greediness</span><span data-if="cpp" style="display:none">Greediness</span><span data-if="com" style="display:none">Greediness</span><span data-if="dotnet" style="display:none">greediness</span><span data-if="python" style="display:none">greediness</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">“Greediness” of the search heuristic (0: safe
but slow; 1: fast but matches may be missed).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0.9</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0</p>
<p class="pardesc"><span class="parcat">Value range:
      </span><code>0
          ≤
        
    <span data-if="hdevelop" style="display:inline">Greediness</span>
    <span data-if="c" style="display:none">Greediness</span>
    <span data-if="cpp" style="display:none">Greediness</span>
    <span data-if="com" style="display:none">Greediness</span>
    <span data-if="dotnet" style="display:none">greediness</span>
    <span data-if="python" style="display:none">greediness</span>
    
          ≤
          1</code></p>
<p class="pardesc"><span class="parcat">Minimum increment:
      </span>0.01</p>
<p class="pardesc"><span class="parcat">Recommended increment:
      </span>0.05</p>
</div>
  <div class="par">
<div class="parhead">
<span id="NumLevels" class="parname"><b><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></b> (input_control)  </span><span>integer-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i>)</span><span data-if="c" style="display:none"> (<i>Hlong</i>)</span></span>
</div>
<p class="pardesc">Number of pyramid levels used in the matching
(and lowest pyramid level to use if
|<a href="#NumLevels"><i><code><span data-if="hdevelop" style="display:inline">NumLevels</span><span data-if="c" style="display:none">NumLevels</span><span data-if="cpp" style="display:none">NumLevels</span><span data-if="com" style="display:none">NumLevels</span><span data-if="dotnet" style="display:none">numLevels</span><span data-if="python" style="display:none">num_levels</span></code></i></a>| = 2).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>0</p>
<p class="pardesc"><span class="parcat">List of values:
      </span>0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10</p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamName" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></b> (input_control)  </span><span>attribute.name-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Names of (optional) parameters for
controlling the behavior of 该算子.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'border_model'</span><span data-if="c" style="display:none">"border_model"</span><span data-if="cpp" style="display:none">"border_model"</span><span data-if="com" style="display:none">"border_model"</span><span data-if="dotnet" style="display:none">"border_model"</span><span data-if="python" style="display:none">"border_model"</span>, <span data-if="hdevelop" style="display:inline">'cam_roll_max'</span><span data-if="c" style="display:none">"cam_roll_max"</span><span data-if="cpp" style="display:none">"cam_roll_max"</span><span data-if="com" style="display:none">"cam_roll_max"</span><span data-if="dotnet" style="display:none">"cam_roll_max"</span><span data-if="python" style="display:none">"cam_roll_max"</span>, <span data-if="hdevelop" style="display:inline">'cam_roll_min'</span><span data-if="c" style="display:none">"cam_roll_min"</span><span data-if="cpp" style="display:none">"cam_roll_min"</span><span data-if="com" style="display:none">"cam_roll_min"</span><span data-if="dotnet" style="display:none">"cam_roll_min"</span><span data-if="python" style="display:none">"cam_roll_min"</span>, <span data-if="hdevelop" style="display:inline">'cov_pose_mode'</span><span data-if="c" style="display:none">"cov_pose_mode"</span><span data-if="cpp" style="display:none">"cov_pose_mode"</span><span data-if="com" style="display:none">"cov_pose_mode"</span><span data-if="dotnet" style="display:none">"cov_pose_mode"</span><span data-if="python" style="display:none">"cov_pose_mode"</span>, <span data-if="hdevelop" style="display:inline">'dist_max'</span><span data-if="c" style="display:none">"dist_max"</span><span data-if="cpp" style="display:none">"dist_max"</span><span data-if="com" style="display:none">"dist_max"</span><span data-if="dotnet" style="display:none">"dist_max"</span><span data-if="python" style="display:none">"dist_max"</span>, <span data-if="hdevelop" style="display:inline">'dist_min'</span><span data-if="c" style="display:none">"dist_min"</span><span data-if="cpp" style="display:none">"dist_min"</span><span data-if="com" style="display:none">"dist_min"</span><span data-if="dotnet" style="display:none">"dist_min"</span><span data-if="python" style="display:none">"dist_min"</span>, <span data-if="hdevelop" style="display:inline">'latitude_max'</span><span data-if="c" style="display:none">"latitude_max"</span><span data-if="cpp" style="display:none">"latitude_max"</span><span data-if="com" style="display:none">"latitude_max"</span><span data-if="dotnet" style="display:none">"latitude_max"</span><span data-if="python" style="display:none">"latitude_max"</span>, <span data-if="hdevelop" style="display:inline">'latitude_min'</span><span data-if="c" style="display:none">"latitude_min"</span><span data-if="cpp" style="display:none">"latitude_min"</span><span data-if="com" style="display:none">"latitude_min"</span><span data-if="dotnet" style="display:none">"latitude_min"</span><span data-if="python" style="display:none">"latitude_min"</span>, <span data-if="hdevelop" style="display:inline">'longitude_max'</span><span data-if="c" style="display:none">"longitude_max"</span><span data-if="cpp" style="display:none">"longitude_max"</span><span data-if="com" style="display:none">"longitude_max"</span><span data-if="dotnet" style="display:none">"longitude_max"</span><span data-if="python" style="display:none">"longitude_max"</span>, <span data-if="hdevelop" style="display:inline">'longitude_min'</span><span data-if="c" style="display:none">"longitude_min"</span><span data-if="cpp" style="display:none">"longitude_min"</span><span data-if="com" style="display:none">"longitude_min"</span><span data-if="dotnet" style="display:none">"longitude_min"</span><span data-if="python" style="display:none">"longitude_min"</span>, <span data-if="hdevelop" style="display:inline">'max_overlap'</span><span data-if="c" style="display:none">"max_overlap"</span><span data-if="cpp" style="display:none">"max_overlap"</span><span data-if="com" style="display:none">"max_overlap"</span><span data-if="dotnet" style="display:none">"max_overlap"</span><span data-if="python" style="display:none">"max_overlap"</span>, <span data-if="hdevelop" style="display:inline">'num_matches'</span><span data-if="c" style="display:none">"num_matches"</span><span data-if="cpp" style="display:none">"num_matches"</span><span data-if="com" style="display:none">"num_matches"</span><span data-if="dotnet" style="display:none">"num_matches"</span><span data-if="python" style="display:none">"num_matches"</span>, <span data-if="hdevelop" style="display:inline">'outlier_suppression'</span><span data-if="c" style="display:none">"outlier_suppression"</span><span data-if="cpp" style="display:none">"outlier_suppression"</span><span data-if="com" style="display:none">"outlier_suppression"</span><span data-if="dotnet" style="display:none">"outlier_suppression"</span><span data-if="python" style="display:none">"outlier_suppression"</span>, <span data-if="hdevelop" style="display:inline">'pose_refinement'</span><span data-if="c" style="display:none">"pose_refinement"</span><span data-if="cpp" style="display:none">"pose_refinement"</span><span data-if="com" style="display:none">"pose_refinement"</span><span data-if="dotnet" style="display:none">"pose_refinement"</span><span data-if="python" style="display:none">"pose_refinement"</span>, <span data-if="hdevelop" style="display:inline">'recompute_score'</span><span data-if="c" style="display:none">"recompute_score"</span><span data-if="cpp" style="display:none">"recompute_score"</span><span data-if="com" style="display:none">"recompute_score"</span><span data-if="dotnet" style="display:none">"recompute_score"</span><span data-if="python" style="display:none">"recompute_score"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamValue" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></b> (input_control)  </span><span>attribute.name-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (integer / </span><span data-if="hdevelop" style="display:inline">real / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>int</i> / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">double / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>Hlong</i> / </span><span data-if="cpp" style="display:none">double / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>Hlong</i> / </span><span data-if="c" style="display:none">double / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Values of the optional generic parameters.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>[]</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>-0.78, -0.35, -0.17, 0.0, 0.17, 0.35, 0.78, 0.1, 0.2, 0.5, <span data-if="hdevelop" style="display:inline">'none'</span><span data-if="c" style="display:none">"none"</span><span data-if="cpp" style="display:none">"none"</span><span data-if="com" style="display:none">"none"</span><span data-if="dotnet" style="display:none">"none"</span><span data-if="python" style="display:none">"none"</span>, <span data-if="hdevelop" style="display:inline">'false'</span><span data-if="c" style="display:none">"false"</span><span data-if="cpp" style="display:none">"false"</span><span data-if="com" style="display:none">"false"</span><span data-if="dotnet" style="display:none">"false"</span><span data-if="python" style="display:none">"false"</span>, <span data-if="hdevelop" style="display:inline">'true'</span><span data-if="c" style="display:none">"true"</span><span data-if="cpp" style="display:none">"true"</span><span data-if="com" style="display:none">"true"</span><span data-if="dotnet" style="display:none">"true"</span><span data-if="python" style="display:none">"true"</span>, <span data-if="hdevelop" style="display:inline">'least_squares'</span><span data-if="c" style="display:none">"least_squares"</span><span data-if="cpp" style="display:none">"least_squares"</span><span data-if="com" style="display:none">"least_squares"</span><span data-if="dotnet" style="display:none">"least_squares"</span><span data-if="python" style="display:none">"least_squares"</span>, <span data-if="hdevelop" style="display:inline">'least_squares_high'</span><span data-if="c" style="display:none">"least_squares_high"</span><span data-if="cpp" style="display:none">"least_squares_high"</span><span data-if="com" style="display:none">"least_squares_high"</span><span data-if="dotnet" style="display:none">"least_squares_high"</span><span data-if="python" style="display:none">"least_squares_high"</span>, <span data-if="hdevelop" style="display:inline">'least_squares_very_high'</span><span data-if="c" style="display:none">"least_squares_very_high"</span><span data-if="cpp" style="display:none">"least_squares_very_high"</span><span data-if="com" style="display:none">"least_squares_very_high"</span><span data-if="dotnet" style="display:none">"least_squares_very_high"</span><span data-if="python" style="display:none">"least_squares_very_high"</span>, <span data-if="hdevelop" style="display:inline">'standard_deviations'</span><span data-if="c" style="display:none">"standard_deviations"</span><span data-if="cpp" style="display:none">"standard_deviations"</span><span data-if="com" style="display:none">"standard_deviations"</span><span data-if="dotnet" style="display:none">"standard_deviations"</span><span data-if="python" style="display:none">"standard_deviations"</span>, <span data-if="hdevelop" style="display:inline">'covariances'</span><span data-if="c" style="display:none">"covariances"</span><span data-if="cpp" style="display:none">"covariances"</span><span data-if="com" style="display:none">"covariances"</span><span data-if="dotnet" style="display:none">"covariances"</span><span data-if="python" style="display:none">"covariances"</span>, <span data-if="hdevelop" style="display:inline">'medium'</span><span data-if="c" style="display:none">"medium"</span><span data-if="cpp" style="display:none">"medium"</span><span data-if="com" style="display:none">"medium"</span><span data-if="dotnet" style="display:none">"medium"</span><span data-if="python" style="display:none">"medium"</span>, <span data-if="hdevelop" style="display:inline">'high'</span><span data-if="c" style="display:none">"high"</span><span data-if="cpp" style="display:none">"high"</span><span data-if="com" style="display:none">"high"</span><span data-if="dotnet" style="display:none">"high"</span><span data-if="python" style="display:none">"high"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="Pose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Pose</span><span data-if="c" style="display:none">Pose</span><span data-if="cpp" style="display:none">Pose</span><span data-if="com" style="display:none">Pose</span><span data-if="dotnet" style="display:none">pose</span><span data-if="python" style="display:none">pose</span></code></b> (output_control)  </span><span>pose(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">3D pose of the 3D shape model.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CovPose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CovPose</span><span data-if="c" style="display:none">CovPose</span><span data-if="cpp" style="display:none">CovPose</span><span data-if="com" style="display:none">CovPose</span><span data-if="dotnet" style="display:none">covPose</span><span data-if="python" style="display:none">cov_pose</span></code></b> (output_control)  </span><span>real-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">6 standard deviations or 36 covariances
of the pose parameters.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Score" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Score</span><span data-if="c" style="display:none">Score</span><span data-if="cpp" style="display:none">Score</span><span data-if="com" style="display:none">Score</span><span data-if="dotnet" style="display:none">score</span><span data-if="python" style="display:none">score</span></code></b> (output_control)  </span><span>real-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Score of the found instances of the 3D shape model.</p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
read_object_model_3d (DXFModelFileName, 'm', [], [], ObjectModel3D, \
                      DxfStatus)
CamParam := ['area_scan_division',0.01221,2791,7.3958e-6,7.4e-6,\
             308.21,245.92,640,480]
create_shape_model_3d (ObjectModel3D, CamParam, 0, 0, 0, 'gba', \
                       -rad(20), rad(20), -rad(20), rad(20), 0, \
                       rad(360), 0.15, 0.2, 10, [], [], ShapeModel3DID)
grab_image_async (Image, AcqHandle, -1)
find_shape_model_3d (Image, ShapeModel3DID, 0.6, 0.9, 0, [], [], \
                     Pose, CovPose, Score)
project_shape_model_3d (ModelContours, ShapeModel3DID, CamParam, \
                        Pose, 'true', rad(30))
</pre>
<h2 id="sec_result">结果</h2>
<p>If the parameter values are correct, 该算子
<code><span data-if="hdevelop" style="display:inline">find_shape_model_3d</span><span data-if="c" style="display:none">find_shape_model_3d</span><span data-if="cpp" style="display:none">FindShapeModel3d</span><span data-if="com" style="display:none">FindShapeModel3d</span><span data-if="dotnet" style="display:none">FindShapeModel3d</span><span data-if="python" style="display:none">find_shape_model_3d</span></code> 返回值 <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
    .  If the input is
empty (no input images are available) the behavior can be set via
<a href="set_system.html"><code><span data-if="hdevelop" style="display:inline">set_system('no_object_result',&lt;Result&gt;)</span><span data-if="c" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span><span data-if="cpp" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="com" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="dotnet" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="python" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span></code></a>.  If necessary, an
exception is raised. If the model was created with
<code><span data-if="hdevelop" style="display:inline">find_shape_model_3d</span><span data-if="c" style="display:none">find_shape_model_3d</span><span data-if="cpp" style="display:none">FindShapeModel3d</span><span data-if="com" style="display:none">FindShapeModel3d</span><span data-if="dotnet" style="display:none">FindShapeModel3d</span><span data-if="python" style="display:none">find_shape_model_3d</span></code> by setting <i><span data-if="hdevelop" style="display:inline">'metric'</span><span data-if="c" style="display:none">"metric"</span><span data-if="cpp" style="display:none">"metric"</span><span data-if="com" style="display:none">"metric"</span><span data-if="dotnet" style="display:none">"metric"</span><span data-if="python" style="display:none">"metric"</span></i> to
<i><span data-if="hdevelop" style="display:inline">'ignore_part_polarity'</span><span data-if="c" style="display:none">"ignore_part_polarity"</span><span data-if="cpp" style="display:none">"ignore_part_polarity"</span><span data-if="com" style="display:none">"ignore_part_polarity"</span><span data-if="dotnet" style="display:none">"ignore_part_polarity"</span><span data-if="python" style="display:none">"ignore_part_polarity"</span></i> and a multi-channel input image is
passed in <a href="#Image"><i><code><span data-if="hdevelop" style="display:inline">Image</span><span data-if="c" style="display:none">Image</span><span data-if="cpp" style="display:none">Image</span><span data-if="com" style="display:none">Image</span><span data-if="dotnet" style="display:none">image</span><span data-if="python" style="display:none">image</span></code></i></a>, the error 3359 is raised.</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="create_shape_model_3d.html"><span data-if="hdevelop" style="display:inline">create_shape_model_3d</span><span data-if="c" style="display:none">create_shape_model_3d</span><span data-if="cpp" style="display:none">CreateShapeModel3d</span><span data-if="com" style="display:none">CreateShapeModel3d</span><span data-if="dotnet" style="display:none">CreateShapeModel3d</span><span data-if="python" style="display:none">create_shape_model_3d</span></a></code>, 
<code><a href="read_shape_model_3d.html"><span data-if="hdevelop" style="display:inline">read_shape_model_3d</span><span data-if="c" style="display:none">read_shape_model_3d</span><span data-if="cpp" style="display:none">ReadShapeModel3d</span><span data-if="com" style="display:none">ReadShapeModel3d</span><span data-if="dotnet" style="display:none">ReadShapeModel3d</span><span data-if="python" style="display:none">read_shape_model_3d</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="project_shape_model_3d.html"><span data-if="hdevelop" style="display:inline">project_shape_model_3d</span><span data-if="c" style="display:none">project_shape_model_3d</span><span data-if="cpp" style="display:none">ProjectShapeModel3d</span><span data-if="com" style="display:none">ProjectShapeModel3d</span><span data-if="dotnet" style="display:none">ProjectShapeModel3d</span><span data-if="python" style="display:none">project_shape_model_3d</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="convert_point_3d_cart_to_spher.html"><span data-if="hdevelop" style="display:inline">convert_point_3d_cart_to_spher</span><span data-if="c" style="display:none">convert_point_3d_cart_to_spher</span><span data-if="cpp" style="display:none">ConvertPoint3dCartToSpher</span><span data-if="com" style="display:none">ConvertPoint3dCartToSpher</span><span data-if="dotnet" style="display:none">ConvertPoint3dCartToSpher</span><span data-if="python" style="display:none">convert_point_3d_cart_to_spher</span></a></code>, 
<code><a href="convert_point_3d_spher_to_cart.html"><span data-if="hdevelop" style="display:inline">convert_point_3d_spher_to_cart</span><span data-if="c" style="display:none">convert_point_3d_spher_to_cart</span><span data-if="cpp" style="display:none">ConvertPoint3dSpherToCart</span><span data-if="com" style="display:none">ConvertPoint3dSpherToCart</span><span data-if="dotnet" style="display:none">ConvertPoint3dSpherToCart</span><span data-if="python" style="display:none">convert_point_3d_spher_to_cart</span></a></code>, 
<code><a href="create_cam_pose_look_at_point.html"><span data-if="hdevelop" style="display:inline">create_cam_pose_look_at_point</span><span data-if="c" style="display:none">create_cam_pose_look_at_point</span><span data-if="cpp" style="display:none">CreateCamPoseLookAtPoint</span><span data-if="com" style="display:none">CreateCamPoseLookAtPoint</span><span data-if="dotnet" style="display:none">CreateCamPoseLookAtPoint</span><span data-if="python" style="display:none">create_cam_pose_look_at_point</span></a></code>, 
<code><a href="trans_pose_shape_model_3d.html"><span data-if="hdevelop" style="display:inline">trans_pose_shape_model_3d</span><span data-if="c" style="display:none">trans_pose_shape_model_3d</span><span data-if="cpp" style="display:none">TransPoseShapeModel3d</span><span data-if="com" style="display:none">TransPoseShapeModel3d</span><span data-if="dotnet" style="display:none">TransPoseShapeModel3d</span><span data-if="python" style="display:none">trans_pose_shape_model_3d</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
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